#ifndef _MINIMOTOR_PID_H
#define _MINIMOTOR_PID_H
#include "stm32f10x.h"

typedef struct{
	int      SetPoint;                              
	long     SumError;                             
	double   Proportion;                              
	double   Integral;                           
	double   Derivative;                        
	int      LastError;                           
	int      PrevError;
}PID_Value;

#define  P_DATA      1
#define  I_DATA      0.45                     
#define  D_DATA      0

int IncPIDCalc(int NextPoint);

#endif
